CN103475873B - Multi-functional travelling platform and its image transfer method - Google Patents

Multi-functional travelling platform and its image transfer method Download PDF

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Publication number
CN103475873B
CN103475873B CN201310458444.5A CN201310458444A CN103475873B CN 103475873 B CN103475873 B CN 103475873B CN 201310458444 A CN201310458444 A CN 201310458444A CN 103475873 B CN103475873 B CN 103475873B
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data
chips
image
module
adv212
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CN103475873A (en
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陈庆文
周丽丽
宋昌江
杨洋
吴冈
赵寒涛
李昕迪
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Institute of Automation of Heilongjiang Academy of Sciences
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Institute of Automation of Heilongjiang Academy of Sciences
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Abstract

Multi-functional travelling platform and its image transfer method.Multi-channel video capturing system is the process that multiple cameras gather every two field picture simultaneously, then used as one of transmission and expressing information most effective way, data volume increases by geometric progression image information, if without any treatment, its data volume can be very surprising.The inventive method includes:Mobile device(1), mobile device installation sensory perceptual system(2), sensory perceptual system is by Ethernet connection control system (3);Mobile device includes vehicle body(4), vehicle body one group of supporting leg of connection(5), supporting leg is respectively mounted driving wheel(6)And universal wheel(7);Described sensory perceptual system includes being arranged on circuit board(8)On central processing unit(9), described central processing unit connection image compressing device(10), image collecting device(11), wireless data transmission device(12), electric power controller(13)And infrared remote-control device(14).The present invention is used for video acquisition.

Description

Multi-functional travelling platform and its image transfer method
Technical field:
The present invention relates to a kind of multi-functional travelling platform and its image transfer method.
Background technology:
With the development of society, people increasingly wish to be replaced with robot oneself to complete those uninteresting, heavy, dangerous Work.In recent years, the research to mobile robot is taken seriously, and is particularly led in engineering exploration, the explosion-proof, military surveillance of anti-terrorism etc. Domain, people have clearly realized the superiority of ground mobile robot.Mobile robot can move to predeterminated target, complete Into the operation task of setting, requirement higher is correspondingly it is also proposed to mobile-robot system, particularly in the fortune of robot The requirement more and more higher of the aspects such as dynamic speed, flexibility, independence, work capacity, its core technology mainly includes being movably walking It is technology, remote control and teleoperation, semi-autonomous and proprietary technology, multi-sensor information fusion technology, navigation and location technology, imitative Raw technology, multi-Agent coordination control technology and microminaturization technology etc..
The information that people experience objective world more than 70% is got with eyes, therefore visual information is that current information grinds One of center studied carefully.Equally, for robot, Computer Vision Detection contains much information, and the information of acquisition is most complete to environment The most deep reaction in face, it is considered to be most important perception.Therefore robot visual guidance system robot research and Occupy highly important status in, the intellectuality to robot will play a decisive role.
Along with the development of the communication technology and computer networking technology, the network bandwidth is gradually increasing, and transmission range is also got over Come wider.And multimedia technology particularly compression of digital video coding is developed rapidly, video request program, videophone, long-range doctor The key technology of the application such as treatment and video monitoring is progressively resolved, and has been obtained widely based on Embedded Video transmission system Using;Multi-channel video capturing system is the process that multiple cameras gather every two field picture simultaneously, then image information is used as transmission One of with expressing information most effective way, data volume increases by geometric progression, if without any treatment, its data volume meeting It is very surprising.
The content of the invention:
It is an object of the invention to provide a kind of multi-functional travelling platform and its image transfer method.
Above-mentioned purpose is realized by following technical scheme:
A kind of multi-functional travelling platform, its composition includes:Mobile device, described mobile device installs sensory perceptual system, institute The sensory perceptual system stated connects control system by Ethernet;Described mobile device includes vehicle body, and described vehicle body connects one group Supporting leg, described supporting leg is respectively mounted driving wheel and universal wheel;Described sensory perceptual system includes installing centre on circuit boards Reason device, described central processing unit connection image compressing device, image collecting device, wireless data transmission device, power management Device and infrared remote-control device.
Described multi-functional travelling platform, described image compressing device also has image input module, described image Input module connects data processing module, described data processing module connection system control module and data memory module;Its In, described data processing module is the parallel ADV212 chips of two panels, and described system control module uses fpga chip, institute The fpga chip stated has one group of data-interface.
Described multi-functional travelling platform, described image collecting device also has bus multiplexer, and described bus is answered One group of video decoding chip, described video decoding chip connection CMOS camera, described CMOS camera peace are connected with device On described supporting leg.
Described multi-functional travelling platform, described electric power controller also has TPS65053RGE power management chips, Described TPS65053RGE power management chips connection TPS5430DDA power conversion chips.
Described multi-functional travelling platform, described infrared remote-control device also has MSP430 chips, described MSP430 Chip connects infrared remote receiver, and described infrared remote receiver connects long-distance infrared remote-controlled device;Described MSP430 chips also pass through The described power wheel of deceleration direct-current motor connection.
Described multi-functional travelling platform, described control system is long-range PC, described sensory perceptual system without line number The PC of control system is connected by Ethernet according to transmitting device.
7. a kind of image transfer method of multi-functional travelling platform:
1)Realize that two panels ADV21 is initialized, it is operated in still image coding state;
2)The fpga chip of system control module receives the raw image data of CMOS camera interface input and caches;
3)The YCbCr4 that will be input into:2:The raw image data of 2 forms is separated into single brightness(Y)Data and colourity (CbCr)Data;
4)By the brightness of two panels ADV212 chips compression output(Y)Data and colourity(CrCb)The code stream of data merges, shape Into complete JPEG2000 data flows;
5)Compressed data stream is transferred to Facility Accepted by wave point;
6)Using the fpga chip of system control module, the data that CMOS camera is collected are processed in real time, and Image sets, another set is built up by JPEG2000 compressed encodings by the ADV212 chips having in itself using system control module The data of compressed encoding, are passed through wireless data transmission device by data, now central processing unit control wireless data transmission device It is transmitted into acceptable control system;Described tele-control system carries out picture control in real time again, and shows the fortune of robot Row state.
The image transfer method of described multi-functional travelling platform, described ADV212 chips are internal big in initialization The register of amount needs assignment, and its initialization order is successively first since the configuration of direct register:PLL registers, BOOT registers, MMODE registers and BUSMODE registers, afterwards loading firmware software restarting and preserve establishing afterwards Put, reset BUSMODE and MMODE registers after restarting, and the pressure of ADV212 chips is carried out by IADDR and IDATA Contracting parameter configuration, DMA registers are set after setting up systematic parameter again, are enabled and are interrupted, and check solid by reading using ID Whether correct part loads, and EIRQFLG deposits are removed after confirming that firmware loads correct, and initialization is completed.
Beneficial effect:
1. the present invention is mounted with sensory perceptual system in the mobile device of remote-controlled movement, and mobile device is distant in remote infrared Moved according to fixed route under the control of control device, and pass through the image letter that the COMS cameras of sensory perceptual system obtain surrounding environment Breath, then image information is sent to tele-control system by wireless data transmission device, so provided to tele-control system Real-time monitoring information.And the image data processing system that sensory perceptual system itself is installed can be acquired to image, compresses, locate The operation managed and be wirelessly transferred.Image compressing device has powerful image processing function, using two pieces of parallel ADV212 cores Piece carries out brightness data compression and chroma data compression, and the data after compression finally are merged into complete JPEG2000 data Stream, it is ensured that the size of data flow and unimpeded transmission.
2. the removable multi-channel video capturing system of present invention design is substantially carried out body control system and mobile video is adopted Collecting system, control system can carry out communication and complete the collection of video information, place by way of wirelessly or non-wirelessly with mobile device Reason, compression and transmission, realize intelligentized video acquisition, and visual information is real-time, data volume is big, but wherein interested, Useful information is included among substantial amounts of environmental information, and treatment is distinguished what collection terminal just carried out vision, by multichannel vision letter The collection of breath, treatment, compression are integrated in mobile platform end, only pass pre-defined effective information back control platform, are the later stage Judgement and operation prepare.
System can be to the danger such as the complex environments such as underground piping, small space or mine blasting area, underground and disaster-stricken place Environment is detected, and is fed back the actual conditions in this region in vision real-time pictures mode, is the maintenance of equipment, dangerous spy Look into and provide accurate, timely visual information with the search and rescue of personnel.
Overall structure is simple, and practical, economic, operation is reliable, can adapt to the monitoring of a variety of warehouse environments, effectively Monitoring distance reaches 150 meters, if in the case where straight line is accessible, effective monitoring distance can reach 1000 meters.Such as by this Robot application can play good tracing and monitoring effect to other occasions.
Brief description of the drawings:
Accompanying drawing 1 is external structure schematic diagram of the invention.
Accompanying drawing 2 is the structured flowchart of sensory perceptual system of the present invention.
Accompanying drawing 3 is the hardware overall structure block diagram that sensory perceptual system of the present invention carries out wireless video transmission.
Accompanying drawing 4 is the flow chart that ADV212 chips of the invention are initialized.
Accompanying drawing 5 is the parallel processing elementary diagram of ADV212 chips of the present invention.
Accompanying drawing 6 is EPCS16 connection circuits figure of the present invention.
Accompanying drawing 7 is JTAG download configurations mode schematic diagram of the present invention.
Accompanying drawing 8 is DM365DD2 control unit interfaces of the present invention and K4T1G164QE hardware connection diagrams.
Accompanying drawing 9 is TPS60503RGE typical application circuits figure of the present invention.
Accompanying drawing 10 is the principle schematic of electric power controller design of the present invention.
In figure, 1 is mobile device, and 2 is sensory perceptual system, and 3 is control system, and 4 is vehicle body, and 5 is supporting leg, and 6 are, and 7 is ten thousand To wheel, 8 is circuit board, and 9 is central processing unit, and 10 is image compressing device, and 11 is image collecting device, and 12 pass for wireless data Defeated device, 13 is electric power controller, and 14 is infrared remote-control device, and 15 is image input module, and 16 is data processing module, 17 It is system control module, 18 is data memory module, and 19 is ADV212 chips, and 20 is CMOS camera, and 21 is MSP430 chips, 22 is infrared remote receiver, and 23 is long-distance infrared remote-controlled device.
Specific embodiment:
Embodiment 1:
A kind of multi-functional travelling platform, its composition includes:Mobile device 1, described mobile device installs sensory perceptual system 2, Described sensory perceptual system connects control system 3 by Ethernet;Described mobile device includes vehicle body 4, described vehicle body connection One group of supporting leg 5, described supporting leg is respectively mounted driving wheel 6 and universal wheel 7, for example, selection two of which described in supporting leg and at it Lower section is respectively mounted driving wheel, and the supporting leg described in reselection one simultaneously installs universal wheel thereunder;Described sensory perceptual system includes Central processing unit 9 on circuit board 8, described central processing unit connection image compressing device 10, image collecting device 11st, wireless data transmission device 12, electric power controller 13 and infrared remote-control device 14.
Embodiment 2:
Multi-functional travelling platform described in embodiment 1, described image compressing device also has image input module 15, institute The image input module connection data processing module 16 stated, described data processing module connection system control module 17 and data Memory module 18;Wherein, described data processing module is the parallel ADV212 chips 19 of two panels, described system control module Using fpga chip, described fpga chip has one group of data-interface.
EPCS16 chips and sram chip are configured on described fpga chip.
The view data of described image input module primary recipient port input, raw image data input side in system Formula has two kinds:One is that, from the input of LVDS ports, data memory module will be transmitted after receiving raw image data simple process To the system;Another video interface from circuit board, external camera gathers raw image data.
When receiving data using LVDS, raw image data is sent to data memory module, data by main control computer After memory module caches raw image data, it is transferred to image Compression module through data-interface and is compressed coding behaviour Make.
During using video interface gathered data, then gathered by external camera on the utilizing camera interface on circuit board Raw image data, then coding is compressed via the JPEG2000 image compression processing systems of ASIC, so camera Image resolution requirement it is higher.
When described ADV212 chips carry out JPEG2000 compressions to raw image data, wherein ADV212_0 carries out bright Degrees of data is compressed, and ADV212_1 carries out chroma data compression, the data after compression finally are merged into complete JPEG2000 numbers According to stream.
Described data memory module is afterwards deposited the view data after compressed encoding by the way of the storage of simplicial graph picture Storage is in computer, then counts by calculating machine software, and the view data of storage is carried out into decoding display or further treatment.
Embodiment 3:
Multi-functional travelling platform described in embodiment 1 or 2, described image collecting device also has bus multiplexer, institute The bus multiplexer stated connects one group of video decoding chip, and described video decoding chip connection CMOS camera 20 is described CMOS camera is arranged on described supporting leg.
Embodiment 4:
Multi-functional travelling platform described in embodiment 1 or 2, described electric power controller also has TPS65053RGE electricity Source control chip, described TPS65053RGE power management chips connection TPS5430DDA power conversion chips.
Described TPS65053RGE power management chips have 2 step-down converters (DC/DC) and 3 low inputs The 5 channel power source managing chips of voltage LDO, multichannel ensure that can not only meet current power supply needs, also to be in the future Provides convenient when system upgrading need to increase power supply;Wherein DCDC1 can export the electric current of 1000mA, and DCDC2 can be exported The electric current of 600mA;LDO1 can export the electric current of 400mA, and LDO2 and LDO3 can export the electric current of 200mA. TPS65053RGE supports to control the working condition of step-down converter by enabling pin simultaneously, thus can draw by enable Pin is controlled to meet the voltage electric sequence requirement of TMS320DM365, the typical application circuit figure such as accompanying drawing 9 of the chip It is shown.
The system required voltage is 1.35V1.8V, 3.3V and 5V, because the input voltage of TPS65053RGE is in 1.5V To between 6.5V, and power supply adaptor is 12V, it is therefore necessary to carry out 12 to 5V conversions, the electricity of TI companies has been selected here Source conversion chip TPS5430DDA, as of fig. 9 shown TPS60503RGE typical application circuits figure, the control source that it is supported Between 5.5V and 36V, the electric current maximum of output can reach 3A to scope, meet demand.
In order to obtain other voltages needed for system, it is necessary to using TPS65053RGE by 5V Power converts into 1.35V, 1.8V and 3.3V, the power module design principle schematic of system is as shown in Figure 10.
Embodiment 5:
Multi-functional travelling platform described in embodiment 1 or 2, described infrared remote-control device also has MSP430 chips 21, Described MSP430 chips connection infrared remote receiver 22, described infrared remote receiver connects long-distance infrared remote-controlled device 23;Described MSP430 chips also connect described power wheel by deceleration direct-current motor.
Embodiment 6:
Multi-functional travelling platform described in embodiment 1 or 2, described control system is long-range PC, described perception system The wireless data transmission device of system connects the PC of control system by Ethernet.
Described wireless data transmission device can realize remote video transmission, it is necessary to video flowing is passed by Ethernet It is defeated to tele-control system, the operating system run by Ethernet interface completion system is needed during simultaneity factor exploitation debugging The download of kernel and root file system mirror image, therefore Ethernet interface is essential, the integrated Ethernet of DM365 chip internals MAC controllers(EMAC)With physical layer data I/O management module(MDIO), wherein EMAC controls packet from being Unite to the transfer process between PHY, and MDIO modules are responsible for configuration and the state-detection of PHY chips;Due to DM365 Chip internal integrated ethernet mac controller, therefore network communicating function is completed by only needing external one piece of PHY chip; The DM9161B that the PHY chips that the system is used are produced for DAVICOM companies, it supports the quick ether of 10/100Mbps Network service.Chip is powered using 3.3V, 48 pin LQFP encapsulation.Ethernet controller modular circuit is for example attached in the system Shown in Fig. 8.
The wherein TXEN of DM9161B enables signal to send, and represents there there are data on transmission data/address bus when high level is effective Effect, TXCLK is tranmitting data register signal, for providing reference clock for TXEN, TXD, TXER etc., is exported by PHY chip.COL is Collision detection signal, can be used to detect that PHY chip does not produce conflict according to having in bus in half-duplex work hours.TXD[3:0] It is the transmission data/address bus of 4, RXD [3:0] it is the reception data/address bus of 4.RXCLK for receive clock signal, for for RXEN, RXD, RXER etc. provide reference clock, are exported by PHY chip.RXDV is reception data valid signal, when high level is effective Represent that the data received on data/address bus are effective.RXER represents reception data to receive data error signal when high level is effective In bus there is mistake in data.CRS is state output signal, shows that PHY works during high level.MDIO is managed for data I/O Reason signal, MDC is that data clock manages signal, is directly connected with the MDIO parts of DM365.MDINTR is that interrupt status is defeated Go out signal, LINKSTS is link or cable state output signal, respectively with GIO90 and the GIO92 connection of DM365.While in order to Chip normal work, XT and XT2 pins need to be connected with the crystal oscillator of 25MHz.TX+/TX- is to send differential data pair, RX+/ RX- is reception differential data pair.
It should be noted that:Need to place a Network Isolation with streamline circle in distress between DM9161B and RJ-45 interfaces Transformer.The system employs YL18-2050S isolating transformers, and effect is to isolate external circuit with DM9161B, to prevent Forceful electric power or electrostatic burn device, realize the hot plug of network interface.
Embodiment 7:
A kind of image transfer method of multi-functional travelling platform:
1)Realize that two panels ADV21 is initialized, it is operated in still image coding state;
2)The fpga chip of system control module receives the raw image data of CMOS camera interface input and caches;
3)The YCbCr4 that will be input into:2:The raw image data of 2 forms is separated into single brightness(Y)Data and colourity (CbCr)Data;
4)By the brightness of two panels ADV212 chips compression output(Y)Data and colourity(CrCb)The code stream of data merges, shape Into complete JPEG2000 data flows;
5)Compressed data stream is transferred to Facility Accepted by wave point;
6)Using the fpga chip of system control module, the data that CMOS camera is collected are processed in real time, and Image sets, another set is built up by JPEG2000 compressed encodings by the ADV212 chips having in itself using system control module The data of compressed encoding, are passed through wireless data transmission device by data, now central processing unit control wireless data transmission device It is transmitted into acceptable control system;Described tele-control system carries out picture control in real time again, and shows the fortune of robot Row state.
Embodiment 8:
The image transfer method of the multi-functional travelling platform described in embodiment 7, described ADV212 chips in initialization, Internal substantial amounts of register needs assignment, realizes that workload is big with hardware language, is also easily malfunctioned when realizing, thus we use Embedded Nios II systems, use simple C sentences, it is possible to easily realize the assignment of register, simplify programming.Other Functional realiey takes the mode that Verilog HDL language and Graphics Input are combined to realize.
The initialization flowchart of ADV212 chips as shown in Figure 4, its initialization order is first from direct register Configuration starts, and is successively:PLL registers, BOOT registers, MMODE registers and BUSMODE registers, load afterwards Firmware, software restarting and preserves establishing and puts afterwards, resets BUSMODE and MMODE registers after restarting, and pass through IADDR and IDATA carries out the compression parameters configuration of ADV212 chips, and DMA registers are set again after setting up systematic parameter, makes Can interrupt, whether correct check firmware to load by reading using ID, EIRQFLG is removed after confirming that firmware loads correct Deposit, initialization is completed.

Claims (1)

1. a kind of multi-functional travelling platform, its composition includes:Mobile device, it is characterized in that:Described mobile device is installed and perceived System, described sensory perceptual system connects control system by Ethernet;Described mobile device includes vehicle body, and described vehicle body connects One group of supporting leg is connect, described supporting leg is respectively mounted driving wheel and universal wheel;Described sensory perceptual system includes installing on circuit boards Central processing unit, described central processing unit connection image compressing device, image collecting device, wireless data transmission device, electricity Source control device and infrared remote-control device;
Described image compressing device also has image input module, and described image input module connects data processing module, Described data processing module connection system control module and data memory module;Wherein, described data processing module is two The parallel ADV212 chips of piece, described system control module uses FPGA chips, and described FPGA chips are with one group of number According to interface;
EPCS16 chips and SRAM chips, described image input module primary recipient end are configured on described FPGA chips The view data of mouth input, raw image data input mode has two kinds in system:One is that, from the input of LVDS ports, data are deposited Storage module will be transferred to the system after receiving raw image data simple process;Another video interface from circuit board, External camera gathers raw image data;When receiving data using LVDS, main control computer sends out raw image data Data memory module is sent to, after data memory module caches raw image data, is transferred at compression of images through data-interface Reason module is compressed encoding operation;During using video interface gathered data, then by outer on the utilizing camera interface on circuit board Connect camera to gather raw image data, then be compressed via the JPEG2000 image compression processing systems of ASIC Coding;When described ADV212 chips carry out JPEG2000 compressions to raw image data, wherein ADV212_0 carries out brightness Data compression, ADV212_1 carries out chroma data compression, and the data after compression finally are merged into complete JPEG2000 data Stream;Described data memory module is afterwards existed the view data storage after compressed encoding by the way of the storage of simplicial graph picture In computer, then count by calculating machine software, the view data of storage is carried out into decoding display or further treatment;
Described image collecting device also has bus multiplexer, and described bus multiplexer connects one group of video decoding chip, Described video decoding chip connection CMOS camera, described CMOS cameras are arranged on described supporting leg;
Described electric power controller also has TPS65053RGE power management chips, described TPS65053RGE power supply pipes Reason chip connection TPS5430DDA power conversion chips;
Described TPS65053RGE power management chips have 2 step-down converters (DC/DC) and 3 low input electricity Press the 5 channel power source managing chips of LDO;DC/DC1 exports the electric current of 1000mA, and DC/DC2 exports the electricity of 600mA Stream;LDO1 exports the electric current of 400mA, and LDO2 and LDO3 exports the electric current of 200mA, and TPS65053RGE is supported simultaneously The working condition of step-down converter is controlled by enabling pin, thus is met by being controlled to enable pin The voltage electric sequence requirement of TMS320DM365;
Described infrared remote-control device also has MSP430 chips, and described MSP430 chips connection infrared remote receiver is described Infrared remote receiver connect long-distance infrared remote-controlled device;Described MSP430 chips also connect described by deceleration direct-current motor Driving wheel;
Described control system is long-range PC machines, and the wireless data transmission device of described sensory perceptual system is connected by Ethernet The PC machines of control system;
Described wireless data transmission device realizes remote video transmission, and video flowing is transferred into remote control by Ethernet System, the operating system nucleus and root file system run by Ethernet interface completion system during simultaneity factor exploitation debugging The download of mirror image, the integrated ethernet mac controller of DM365 chip internals(EMAC)With physical layer data I/O management mould Block(MDIO), wherein EMAC controls transfer process of the packet between system to PHY, and MDIO modules are responsible for The configuration of PHY chips and state-detection;
The PHY chips that the system is used are DM9161B, support the communication of 10/100Mbps Fast Ethernets;
The wherein TXEN of DM9161B enables signal to send, and represents that data are effectively on transmission data/address bus when high level is effective, TXCLK is tranmitting data register signal, for providing reference clock for TXEN, TXD, TXER, is exported by PHY chips;COL is punching Prominent detection signal, for detecting that PHY chips do not produce conflict according to having in bus in half-duplex work hours, TXD [3:0] it is 4 The transmission data/address bus of position, RXD [3:0] be the reception data/address bus of 4, RXCLK to receive clock signal, for for RXEN, RXD, RXER provide reference clock, are exported by PHY chips, and RXDV is to receive data valid signal, and high level is effective When represent receive data/address bus on data effectively, RXER for receive data error signal, reception number is represented when high level is effective There is mistake according to data in bus, CRS is state output signal, shows that PHY works during high level;
MDIO is that data I/O manages signal, and MDC is that data clock manages signal, is directly connected with the MDIO of DM365;
MDINTR is interrupt status output signal, and LINKSTS is link or cable state output signal, respectively with DM365's GIO90 and GIO92 is connected, while for chip normal work, XT and XT2 pins are connected with the crystal oscillator of 25MHz, TX+/ To send differential data pair, RX+/RX- is reception differential data pair to TX-;
A network isolation transformer with streamline circle in distress is placed between DM9161B and RJ-45 interfaces, the system is used YL18-2050S isolating transformers, effect is to isolate external circuit with DM9161B, to prevent forceful electric power or electrostatic from burning device Part, realizes the hot plug of network interface;
The image transfer method of described multi-functional travelling platform is as described below:
1)Realize that two panels ADV21 is initialized, it is operated in still image coding state;
2)The FPGA chips of system control module receive the raw image data of CMOS utilizing camera interfaces input and cache;
3)The YCbCr4 that will be input into:2:The raw image data of 2 forms is separated into single brightness(Y)Data and colourity (CbCr)Data;
4)By the brightness of two panels ADV212 chips compression output(Y)Data and colourity(CrCb)The code stream of data merges, and has been formed Whole JPEG2000 data flows;
5)Compressed data stream is transferred to Facility Accepted by wave point;
6)Using the FPGA chips of system control module, the data that CMOS cameras are collected are processed in real time, and profit Image sets, another set is built up by JPEG2000 compressed encodings by the ADV212 chips having in itself with system control module The data of compressed encoding, are passed through wireless data transmission device by data, now central processing unit control wireless data transmission device It is transmitted into acceptable control system;Described tele-control system carries out picture control in real time again, and shows the fortune of robot Row state;
In initialization, internal substantial amounts of register needs assignment to described ADV212 chips, and its initialization order is first from straight The configuration for connecing register starts, and is successively:PLL registers, BOOT registers, MMODE registers and BUSMODE deposit Device, afterwards loading firmware software restarting and preserves establishing and puts afterwards, and BUSMODE and MMODE deposits are reset after restarting Device, and configured by the compression parameters that IADDR and IDATA carries out ADV212 chips, set again after setting up systematic parameter Whether DMA registers, enable and interrupt, check firmware to load by reading using ID correct, when confirmation firmware loads correct EIRQFLG deposits are removed afterwards, and initialization is completed.
CN201310458444.5A 2013-10-02 2013-10-02 Multi-functional travelling platform and its image transfer method Expired - Fee Related CN103475873B (en)

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